CN105979220A - Household old person monitoring intelligent mobile trolley, monitoring system and monitoring method thereof - Google Patents
Household old person monitoring intelligent mobile trolley, monitoring system and monitoring method thereof Download PDFInfo
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- 230000036772 blood pressure Effects 0.000 claims description 11
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- 230000003028 elevating effect Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 8
- 230000036760 body temperature Effects 0.000 claims description 7
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0407—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis
- G08B21/043—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis detecting an emergency event, e.g. a fall
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0438—Sensor means for detecting
- G08B21/0453—Sensor means for detecting worn on the body to detect health condition by physiological monitoring, e.g. electrocardiogram, temperature, breathing
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Abstract
The invention discloses a household old person monitoring intelligent mobile trolley, a monitoring system and a monitoring method thereof and belongs to the field of household intelligent monitoring. The household old person monitoring system comprises an all-round cradle head high-definition video camera, a wearable wireless physiological sensing device, an information storage and processing decision center and the intelligent mobile trolley, wherein the all-round cradle head high-definition video camera and the intelligent mobile trolley cooperate with each other for tracking and monitoring according to position information of an old person, collect video information of the old person and transmit the video information to the information storage and processing decision center; and the information storage and processing decision center integrates and analyzes the received information and makes a judgment decision, and makes decisions of calling a medical institution and informing family members when the old person has an abnormal behavior. According to the household old person monitoring intelligent mobile trolley, the monitoring system and the monitoring method thereof, the accurate and all-round monitoring can be carried out on the old person, the abnormal condition of the old person can be judged through multi-information fusion, the false alarming condition is avoided, and the accuracy of the monitoring system is improved.
Description
Technical field
The present invention relates to family intelligent monitoring technical field, more particularly, it relates to a kind of with video analysis and be processed as core
The household endowment monitoring intelligent of Multi-information acquisition moves dolly, monitoring system and monitoring method thereof.
Background technology
The growth of the aged is a present situation merited attention very much, and nearest census shows, the quantity of the aged increases
Speed is increasingly faster, and in contrast, youthful quantity is gradually decreasing.At present, China is faced with aged tendency of population increasingly
Serious problem, aged tendency of population present situation brings new challenge, and these challenges are closely bound up with healthy, economy and social problem.
But due to the raising of social senilization's population ratio, corresponding geriatric nursing home is relative with the development of medical treatment and nursing resource deficient.Add again
Upper modern society rhythm is fast, youngster work is busy, so children to parental treatment and are concerned about also the most not enough.
Along with the development of technology of Internet of things, its technology is also widely applied to every field.According to China's actual conditions, utilize Internet of Things
The technology such as the sensor technology of net and network monitoring video, it is possible to achieve intelligent family endowment.So-called intelligent family endowment,
Refer to utilize sensor technology, and autoalarm, it is ensured that the health of old man and personal safety.Video-frequency networking can make
Old man meets with children, mediates the loneliness of old man, lonely.If old man has accident, will be able to be believed by safety alarm system
Breath passes to children and community personnel, makes old man be given treatment in time.Intelligent family endowment system can be with effective guarantee Empty nest elderly
Daily life and spiritual demand, alleviate the burden of children, in making children devote oneself to work physically and mentally, to reach always depend on house
Old-age provision model, in order to build together, harmonious society serves impetus.
In prior art, intelligent home old-age provision model is varied, and many youngsters select to install photographic head in family, then can be
Parental activity is understood by remotely monitoring on its mobile phone or computer.The activity situation of relatives so can be detected in real time,
But the activity situation of old people can not observed always, and people can be made in the course of time to produce fatigue, have influence on work efficiency；
Secondly, camera monitoring system is likely to occur monitoring dead angle, when old man occurs the most but cannot be monitored seizure, it is difficult to monitor
The concrete health of old man is dynamic, it is impossible to accuracy of judgement abnormal conditions；Again, most intelligent monitor systems often occur misjudgment,
The situation of false alarm, makes troubles to children's life and work.
Through retrieval, patent publication No. CN204614152U, authorized announcement date is: on JIUYUE 2nd, 2015, invention and created name
For: intelligent family endowment system based on technology of Internet of things, this application case relates to a kind of based on Internet of Things intelligent the most foster
Legacy system, can realize intelligent management to the monitoring of the security protection in family, monitoring and old man, and in family, old man is if any urgent need,
Household and community personnel can be notified by emergency system；But this application case use acceleration transducer judge whether old man falls
Falling, there is certain decision errors, monitoring precision has much room for improvement, and in this application case, prison easily occurs in video monitoring to old man
Control dead angle, it is still necessary to improve further.
Summary of the invention
1. invention to solve the technical problem that
It is an object of the invention to overcome in prior art family endowment monitoring system easily exist monitoring dead angle, monitoring precision the highest,
The deficiency of false alarm easily occurs, it is provided that a kind of household endowment monitoring intelligent moves dolly, monitoring system and monitoring method thereof,
Old man dynamically can be carried out accurate, overall monitor, and the fusion that old man's abnormal conditions can carry out multi information judges, it is to avoid go out
Existing false alarm situation, improves monitoring system accuracy.
2. technical scheme
For reaching above-mentioned purpose, the technical scheme that the present invention provides is:
A kind of household endowment monitoring intelligent of the present invention moves dolly, and including dolly vehicle body, dolly vehicle body is provided above automatically rising
Fall bar, described automatic lifting masthead end is provided with panoramic vision photographic head；Dolly vehicle body both sides are each provided with a turning arm, often
Root turning arm top is provided with binocular high-definition camera；Dolly body bottom is provided with Universal wheel.
Further, described dolly interior of body is provided with functional module, and this functional module includes 1# orientation acquisition module, motion
Module, 1# face detection module, photographing module, described 1# orientation acquisition module is used for receiving old man's positional information；Described motion
Module is in face of the positional information control intelligent mobile moving of car according to old man to old man, and the position regulating photographic head makes to take the photograph
As head can gather face facial expression；Described 1# face detection module is for detecting the facial zone of old man；Described photographing module
For old man's face is carried out video image acquisition.
Further, described motion module include photographic head rotary motion module, elevating lever motion module, turning arm motion module,
Wheel movement module and dolly balance module；
Described photographic head rotary motion module is found reasonably for controlling the rotation of panoramic vision photographic head according to old man's positional information
Path makes intelligent mobile dolly arrive and specifies position, and controls panoramic vision photographic head and binocular high-definition camera at 0 °～360 °
In the range of horizontally rotate, vertical rotary in the range of-90 °～90 °, thus search out old man face and gather the face of face
Express one's feelings in portion；
Described elevating lever motion module, for controlling the lifting of automatic lifting bar to get around barrier, makes dolly smooth and easy current；
Described turning arm motion module is used for controlling turning arm and rotates, and then controls the position of binocular high-definition camera；
Described wheel movement module is for controlling the operation of intelligent mobile dolly；
Described dolly balance module, for controlling the balance of intelligent mobile dolly, makes intelligent mobile dolly keep static or steady
Run.
A kind of household endowment monitoring system of the present invention, including all-directional tripod head high definition camera device, Wearable radio physiological sensing
The storage of device, information and process decision center, intelligent mobile dolly, described Wearable radio physiological sensing device is used for gathering always
Human physiology information, and information storage will be transferred to after physiologic information integration and process decision center；Described all-directional tripod head high definition is taken the photograph
As device is for being tracked monitoring according to old man's positional information, and gather old man's video information transmission and to information storage and process certainly
Plan center；Intelligent mobile dolly is for closely detecting and gather old man's facial image information, and the information that then transmits information to is deposited
Storage and process decision center；Described information storage and process the various information that receive of decision center confluence analysis and judge certainly
Plan.
Further, the storage of described information and process decision center are arranged on intelligent mobile dolly.
Further, described Wearable radio physiological sensing device includes sensor data acquisition module, 1# data processing terminal,
Described sensor data acquisition module include heart rate detection module, monitoring of blood pressure module, temperature check module, velocity measuring module,
Center of gravity detection module, locating module, described 1# data processing terminal receives and integrates the number that sensor data acquisition module collects
According to, then transfer data to information storage and process decision center.
Further, described all-directional tripod head high definition camera device includes controlling and data acquisition module, 2# data processing terminal,
Described control and data acquisition module include:
2# orientation acquisition module, receives the old man position sent from the 1# data processing terminal of Wearable radio physiological sensing device
Information；
Target tracking module, is tracked monitoring to old man according to old man's positional information that 2# orientation acquisition module receives；
Rotary motion module, the old man's positional information collected according to 2# orientation acquisition module controls the direction of photographic head so that take the photograph
Picture head horizontally rotates in the range of 0 °～360 °, vertical rotary in the range of-90 °～90 °, reaches omnibearing monitoring
State；
2# face detection module, rotates to specific bit at photographic head and postpones, and starts to detect the face of old man, to determine the face of old man
Region, portion；
Zoom module, is amplified old man's face by the size controlling focal length, conveniently collects old man's face table clearly
Feelings image；
Video acquisition module, after photographic head rotates to the position specified, carries out real time video image collection to old man's behavior；
Described 2# data processing terminal receives the data message that also integral traffic control and data collecting module collected arrive, and then data is passed
It is defeated by information storage and processes decision center.
Further, the storage of described information and decision center include:
According to the height of C.G. of old man, Activity recognition module, judges whether old man falls down；
Expression analysis module, according to camera collection to face-image be identified old man's facial expression analyzing；
Information storage Fusion Module, by all-directional tripod head high definition camera device, Wearable radio physiological sensing device, intelligent mobile
The abnormal information that dolly is collected carries out storage process；
Judging decision-making module, the data collected according to Wearable radio physiological sensing device judge whether the health of old man occurs
Abnormal conditions, if there is abnormal conditions, then the abnormal information of old man feed back to respectively all-directional tripod head high definition camera device,
Intelligent mobile dolly, controls all-directional tripod head high definition camera device and carries out anomalous video image acquisition, and the Abnormal Map that will collect
As being stored in information storage Fusion Module, the result finally according to information processing makes a policy, and decision scheme is sent to doctor
Treat on mechanism, community service station and customer terminal equipment.
The monitoring method of a kind of household endowment monitoring system of the present invention, the steps include:
Step one: elders wear Wearable radio physiological sensing device, sensor data acquisition module collects the heart that old man is real-time
Hop rate rate, blood pressure height, body temperature size, activity rate, height of C.G. and positional information, 1# data processing terminal receives also
Integrate the data collected, then transfer data to information storage and process decision center, and the positional information of old man is transmitted
To all-directional tripod head high definition camera device and intelligent mobile dolly；
Step 2: information storage and process decision center the data received are processed, by obtain physiological parameter data with
Normal physiological parameter numerical range compares, and the height of C.G. threshold value of height of C.G. with setting is compared:
Situation A: if physiological parameter data and height of C.G. are all in normal numerical range, returns step one and continues to monitor inspection
Survey；
Situation B: if physiological parameter data is abnormal, it is judged that decision-making module is made calling medical institutions and notifies the decision-making of household, with
Time the positional information of old man fed back to all-directional tripod head high definition camera device and intelligent mobile dolly；If all-directional tripod head high definition is taken the photograph
As device is able to detect that the face of old man, then by zoom module to photographic head zoom, amplify old man's face and carry out face
Image acquisition；
If all-directional tripod head high definition camera device can not detect the face of old man, carry out before intelligent mobile moving of car to old man's body
Face detection also gathers face-image, the face image data collected finally is transferred to information storage and process decision center is entered
Row Expression analysis identification；
Situation C: if physiological parameter data is normal, height of C.G. continues inspection less than the threshold value set, sensor data acquisition module
Survey height of C.G. less than the time setting threshold value whether exceed setting fall down the time, if be not above setting falls down the time, then
Return step one to continue to monitor detection；
If exceeding falling down the time of setting, and sensor data acquisition module detects that old man still has certain activity rate, then sentence
Disconnected decision-making module is made calling medical institutions and notifies the decision-making of household, the positional information of old man is fed back to all-directional tripod head simultaneously
High definition camera device and intelligent mobile dolly；If all-directional tripod head high definition camera device is able to detect that the face of old man, then pass through
Zoom module, to photographic head zoom, is amplified old man's face and carries out facial image acquisition；If all-directional tripod head high definition camera device
The face of old man can not be detected, carry out face detection before intelligent mobile moving of car to old man's body and gather face-image, finally
The face image data collected is transferred to information storage and process decision center carries out Expression analysis identification.
The monitoring method of a kind of household endowment monitoring system of the present invention, the steps include:
Step one: elders wear Wearable radio physiological sensing device, sensor data acquisition module collects the heart that old man is real-time
Hop rate rate, blood pressure height, body temperature size, activity rate, height of C.G. and positional information, 1# data processing terminal receives also
Integrate the data collected, then transfer data to information storage and process decision center, and the positional information of old man is transmitted
To all-directional tripod head high definition camera device and intelligent mobile dolly；
Step 2: information storage and process decision center the data received are processed, by obtain physiological parameter data with
Normal physiological parameter numerical range compares, and the height of C.G. threshold value of height of C.G. with setting is compared:
Situation A: if physiological parameter data and height of C.G. are all in normal numerical range, returns step one and continues to monitor inspection
Survey；
Situation B: if physiological parameter data is abnormal, it is judged that decision-making module is made calling medical institutions and notifies the decision-making of household, with
Time the positional information of old man fed back to all-directional tripod head high definition camera device and intelligent mobile dolly；All-directional tripod head high-definition camera
The face of device detection old man, and by zoom module to photographic head zoom, amplify old man's face and carry out facial image acquisition；
Or intelligent mobile moving of car carries out face detection and gathers face-image before old man's body, the face-image number that finally will collect
Store and process decision center according to the information that is transferred to and carry out Expression analysis identification；
Situation C: if physiological parameter data is normal, height of C.G. continues inspection less than the threshold value set, sensor data acquisition module
Survey height of C.G. less than the time setting threshold value whether exceed setting fall down the time, if be not above setting falls down the time, then
Return step one to continue to monitor detection；
If exceeding falling down the time of setting, and sensor data acquisition module detects that old man still has certain activity rate, then sentence
Disconnected decision-making module is made calling medical institutions and notifies the decision-making of household, the positional information of old man is fed back to all-directional tripod head simultaneously
High definition camera device and intelligent mobile dolly；The face of all-directional tripod head high definition camera device detection old man, and by zoom mould
Block, to photographic head zoom, amplifies old man's face and carries out facial image acquisition；Or intelligent mobile moving of car is carried out before old man's body
Face detection also gathers face-image, the face image data collected finally is transferred to information storage and process decision center is entered
Row Expression analysis identification.
3. beneficial effect
Use the technical scheme that the present invention provides, compared with prior art, there is following remarkable result:
(1) a kind of household endowment monitoring intelligent of the present invention moves dolly, and photographic head rotary motion module can adjust panoramic vision
Photographic head and binocular high-definition camera horizontally rotate in the range of 0 °～360 °, vertically revolve in the range of-90 °～90 °
Turn so that it is the face of old man can be searched out and gather the facial expression of face；Elevating lever motion module can be according to panoramic vision
Camera collection to space object ornaments situation control the lifting of automatic lifting bar in real time to get around barrier, make dolly smooth and easy
Current, drastically increase the kinematic dexterity of intelligent mobile dolly, the all-directional rotation of multiple photographic head more ensure that image is adopted
Comprehensive, the accuracy of collection.
(2) a kind of household endowment monitoring system of the present invention, Wearable radio physiological sensing device includes center of gravity detection module, should
Center of gravity detection module is for detecting the position of centre of gravity of old man and extracting the height of centroidal distance room floor, and information stores and decision-making
According to the height of C.G. of old man, the Activity recognition module at center then judges whether old man falls down；Monitoring system of the prior art is led to
Often judge whether old man falls down according to the acceleration of motion size of old man, when rapid movement or temporary squat for the moment occurs in old man
During situation of standing up, monitoring system easily determines error, produces the situation such as false alarm, frequent warning, takes to children greatest tired
Disturb, affect the normal Working Life state of children.And the present invention uses center of gravity height judge whether old man falls down, and by center of gravity
Time of changing with height of C.G. of height change combine, just can make calling when height of C.G. is less than the time setting threshold value
Medical institutions and notify the decision-making of household, and when old man acutely squat down for the moment or occur minor fall, stand again non-seriously
During situation, monitoring system can't make calling decision-making hastily, it is to avoid the generation of wrong report situation, improves the accuracy of monitoring.
(3) a kind of household endowment monitoring system of the present invention, has carried out reasonable sieve to the storage information in information storage Fusion Module
Choosing, video image when only exception occurs in old man just can be stored in information storage Fusion Module, the most not only store information
The memory space of Fusion Module has carried out efficient utilization, also allows for people and is directly viewable anomalous video image, without from a large amount of confused
Numerous video image is searched the video image of abnormality, substantial saving in the time of checking.
(4) a kind of household endowment monitoring system of the present invention, when abnormal conditions occurs in old man, it is judged that decision-making module makes calling doctor
Treat mechanism and notify the decision-making of household, the positional information of old man being fed back to all-directional tripod head high definition camera device and Intelligent sliding simultaneously
Dynamic dolly, intelligent mobile dolly can automatically run after receiving the positional information fed back, closely run to old man and carry out face at one's side
Portion's image acquisition；All-directional tripod head high definition camera device can also all-directional rotation, old man is carried out omnibearing face detection and
Image acquisition；Both both can be with the use of, it is also possible to individually separate detection, has fully ensured that the accuracy of facial detection；Especially
It is that intelligent mobile dolly can be not limited by a space with isolated operation, and motility is higher, when all-directional tripod head high definition camera device
When due to the design of house general layout or being blocked by barrier, intelligent mobile dolly can accurately run to old man by avoiding obstacles automatically
At one's side, it is achieved the image acquisition to old man's unusual condition, improve the accuracy of whole monitoring system.
Accompanying drawing explanation
Fig. 1 is that the data of a kind of household endowment monitoring system of the present invention process schematic diagram；
Fig. 2 is the monitoring schematic flow sheet of a kind of household endowment monitoring system of the present invention；
Fig. 3 is that a kind of household endowment monitoring intelligent of the present invention moves the structural representation of dolly.
Label declaration in schematic diagram: 1, panoramic vision photographic head；2, binocular high-definition camera；3, automatic lifting bar；4、
Turning arm；5, Universal wheel.
Detailed description of the invention
For further appreciating that present disclosure, the present invention is described in detail with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As it is shown on figure 3, a kind of household endowment monitoring intelligent of the present embodiment moves dolly, including dolly vehicle body, on dolly vehicle body
Side is provided with automatic lifting bar 3, and automatic lifting bar 3 top is provided with panoramic vision photographic head 1；Dolly vehicle body both sides are each provided with
A piece turning arm 4, every turning arm 4 top is provided with binocular high-definition camera 2；Dolly body bottom is provided with Universal wheel 5.
Dolly interior of body is provided with functional module, and this functional module includes that 1# orientation acquisition module, motion module, 1# face are examined
Surveying module, photographing module, 1# orientation acquisition module is used for receiving old man's positional information；Motion module is for the position according to old man
Information controls intelligent mobile moving of car in face of old man, and the position regulating photographic head enables photographic head to gather face face table
Feelings；1# face detection module is for detecting the facial zone of old man；Photographing module is for carrying out video image acquisition to old man's face.
In the present embodiment, motion module includes photographic head rotary motion module, elevating lever motion module, turning arm motion module, car
Wheel motion module and dolly balance module；Wherein photographic head rotary motion module is for controlling panoramic vision according to old man's positional information
Rational path is found in photographic head 1 rotation makes intelligent mobile dolly arrive appointment position, and suitably adjusts panoramic vision photographic head
1 in the range of 0 °～360 ° horizontally rotate, in the range of-90 °～90 ° vertical rotary so that it is old man can be searched out
Face；Photographic head rotary motion module also be used for control binocular high-definition camera 2 horizontally rotate in the range of 0 °～360 °,
Vertical rotary in the range of-90 °～90 °, makes two binocular high-definition cameras 2 cooperate and moves to optimum position, more preferably
Ground gathers the facial expression of face.
Elevating lever motion module controls in real time for the space object ornaments situation collected according to panoramic vision photographic head 1 automatically
The lifting of elevating lever 3 gets around barrier, makes dolly smooth and easy current.
Turning arm motion module, for the old man face detected according to panoramic vision photographic head 1, coordinates photographic head rotary motion mould
Block controls turning arm 4 and rotates (minimum being unlikely to makes photographic head touch with ground), and then controls binocular high-definition camera 2
Just, make binocular high-definition camera 2 fully with the use of, move to optimum position, preferably gather the facial expression of face.
Wheel movement module searches out for the old man's positional information instruction received according to dolly and panoramic vision photographic head 1
Path controls the motion of Universal wheel 5, enables intelligent mobile dolly to run；Dolly balance module is quiet for foundation dolly
Only state or kinestate control the balance of dolly, enable dolly to keep static or make dolly even running.
A kind of household endowment monitoring intelligent of the present embodiment moves dolly, it is possible to receive the positional information of old man and according to old man position
Information automatically runs to old man and the most closely monitors, and the most multiple photographic head can be with all-directional rotation, the face to old man
Expression and real time video image are acquired, and improve the accuracy of intelligent monitoring, and dolly can automatically select route and dodge barrier
Hindering thing, running is steady, easy and simple to handle, suitably uses in home environment.
Embodiment 2
In conjunction with Fig. 1, Fig. 2 and Fig. 3, a kind of household endowment monitoring system of the present embodiment, including the intelligent mobile in embodiment 1
Dolly, also includes the storage of all-directional tripod head high definition camera device, Wearable radio physiological sensing device, information and processes in decision-making
The heart, wherein Wearable radio physiological sensing device is used for gathering old man's physiologic information, and is transferred to information after physiologic information integration
Storage and process decision center；All-directional tripod head high definition camera device is for being tracked monitoring according to old man's positional information, and adopts
Collection old man's video information transmission is to information storage and processes decision center；Intelligent mobile dolly is for closely detecting and gathering old man
Facial image information, then transmits information to information storage and processes decision center；Information storage and process decision center are integrated
Analyzing the various information received and judge decision-making, in the present embodiment, information storage and process decision center are arranged on Intelligent sliding
On dynamic dolly.
In the present embodiment, Wearable radio physiological sensing device includes sensor data acquisition module, 1# data processing terminal, wherein
Sensor data acquisition module includes heart rate detection module, monitoring of blood pressure module, temperature check module, velocity measuring module, weight
Heart detection module, locating module, particularly as follows: heart rate detection module is for detecting the heart rate of old man；Monitoring of blood pressure module is used
Blood pressure height in detection old man；Temperature check module is for detecting the body temperature value of old man；Velocity measuring module is used for detecting old man
Movement rate；Center of gravity detection module is for detecting the position of centre of gravity of old man and extracting the height of centroidal distance room floor；Fixed
Position module, for determining the position of old man, obtains location parameter.And 1# data processing terminal receives and integrates sensor data acquisition
Any of the above data that module collects, then transfer data to information storage and process decision center.
In the present embodiment, all-directional tripod head high definition camera device includes controlling and data acquisition module, 2# data processing terminal, wherein
Control and data acquisition module include 2# orientation acquisition module, rotary motion module, 2# face detection module, zoom module,
Video acquisition module, particularly as follows: 2# orientation acquisition module is for receiving at the 1# data of Wearable radio physiological sensing device
Old man's positional information that reason terminal sends；Target tracking module is for the old man's positional information received according to 2# orientation acquisition module
Old man is tracked monitoring；Old man's positional information that rotary motion module collects according to 2# orientation acquisition module controls photographic head
Direction so that photographic head horizontally rotates in the range of 0 °～360 °, vertical rotary in the range of-90 °～90 °, reaches
To omnibearing monitor state；2# face detection module postpones for rotating to specific bit at photographic head, starts to detect the face of old man
Portion, to determine the facial zone of old man；Zoom module, is amplified old man's face by the size controlling focal length, convenient
Collect old man's facial expression image clearly；Video acquisition module is for after photographic head rotates to the position specified, to old man
Behavior carries out real time video image collection.And 2# data processing terminal receives and integral traffic control and data collecting module collected arrive with
Upper various data messages, then transfer data to information storage and process decision center.
In the present embodiment information storage and decision center include Activity recognition module, Expression analysis module, information storage Fusion Module,
Judging decision-making module, wherein according to the height of C.G. of old man, Activity recognition module is for judging whether old man falls down；Expression analysis
Module for according to camera collection to face-image be identified old man's facial expression analyzing；Information storage Fusion Module is used
In the abnormal information that all-directional tripod head high definition camera device, Wearable radio physiological sensing device, intelligent mobile dolly are collected
Carry out storage process；Judge that the data that decision-making module then collects according to Wearable radio physiological sensing device judge the body of old man
Whether body there are abnormal conditions, if there is abnormal conditions, then the abnormal information of old man is fed back to all-directional tripod head high definition respectively
Camera head, intelligent mobile dolly, control all-directional tripod head high definition camera device and intelligent mobile dolly carries out anomalous video image
Gathering, and be stored in by the abnormal image collected in information storage Fusion Module, the result finally according to information processing is made certainly
Plan, and decision scheme is sent on medical institutions, community service station and customer terminal equipment.
A kind of household endowment monitoring system of the present embodiment, all-directional tripod head high definition camera device may be installed in parlor or bedroom
On the ceiling of centre, the visual angle that can make monitoring is more abundant；For Wearable radio physiological sensing device, can be fixed on old
In the medicated clothing of people or be worn in the wrist of old man, so it is prone to detect in real time the physiological parameter of old people；Intelligent mobile dolly can stop
Certain fixing place in room so that dolly is convenient to come in and go out.
The present embodiment gathers the multiple physiologic information of old man, and design gravity detection module by Wearable radio physiological sensing device
The position of centre of gravity of detection old man, the height of extraction centroidal distance room floor, correspondingly, information storage and the behavior of decision center
According to the height of C.G. of old man, identification module judges whether old man falls down.Monitoring system of the prior art is generally according to old man's
Acceleration of motion size judges whether old man falls down, when old man occur for the moment rapid movement or temporary squat stand up situation time,
Monitoring system easily determines error, produces the situation such as false alarm, frequent warning, takes greatest puzzlement to children, affects children
Normal Working Life state.And the present embodiment uses center of gravity height judge whether old man falls down and have preferable accuracy,
Have when the long-time center of gravity of old man is too low do not rise time, system just can be made abnormal feedback, improve the accuracy of monitoring.Secondly, originally
Embodiment, while using Wearable radio physiological sensing device to detect every physiological parameter of old man, is also strengthened always
The face detection of people and Expression analysis identification, and anomalous video image is acquired storage, it is simple to accurate perception old man's is real-time
Dynamically, comprehensive, the accuracy of whole monitoring system are improved.Again, to depositing in information storage Fusion Module in the present embodiment
Storage information has carried out anomalous video image when exception occur in reasonable screening, only old man just can be stored in information storage Fusion Module
In, the most not only the memory space of information storage Fusion Module is carried out efficient utilization, also allowed for people and be directly viewable abnormal regarding
Frequently image, without searching the video image of abnormality from the most numerous and complicated video image, substantial saving in the time of checking.
The monitoring method of a kind of household endowment monitoring system of the present embodiment, the steps include:
Step one: elders wear Wearable radio physiological sensing device, sensor data acquisition module collects the heart that old man is real-time
Hop rate rate, blood pressure height, body temperature size, activity rate, height of C.G. and positional information, 1# data processing terminal receives also
Integrate the data collected, then transfer data to information storage and process decision center, and the positional information of old man is transmitted
To all-directional tripod head high definition camera device and intelligent mobile dolly；
Step 2: information storage and process decision center the data received are processed, by obtain physiological parameter data with
Normal physiological parameter numerical range compares, and the height of C.G. threshold value of height of C.G. with setting is compared:
Situation A: if physiological parameter data and height of C.G. are all in normal numerical range, then it represents that for old man's vital sign
Abnormal conditions do not occur, the unusual condition the most do not fallen down, return step one and continue to monitor detection；
Situation B: if physiological parameter data is abnormal, it is judged that decision-making module is made calling medical institutions and notifies the decision-making of household, with
Time the positional information of old man fed back to all-directional tripod head high definition camera device and intelligent mobile dolly；All-directional tripod head high-definition camera
After 2# orientation acquisition module in device receives the positional information of old man, target tracking module is tracked monitoring to old man, with
Time rotary motion module control photographic head horizontally rotate in the range of 0 °～360 °, vertically revolve in the range of-90 °～90 °
Turning, rotate to specific bit at photographic head and postpone, 2# face detection module starts to detect the face of old man, to determine the face of old man
Region, if now 2# face detection module is able to detect that the face of old man, then by zoom module to photographic head zoom, puts
Big old man's face also carries out facial image acquisition, the face image data collected is transferred to information storage and processes decision center
Carry out Expression analysis identification；If now 2# face detection module cannot be accurately detected the face of old man, then intelligent mobile dolly fortune
Carry out face detection before moving old man's body and gather face-image, finally the face image data collected is transferred to information storage
And process decision center carries out Expression analysis identification；Intelligent mobile dolly coordinates with all-directional tripod head high definition camera device and guarantees
Collect old man's face-image the most accurately, it is simple to carry out Expression analysis identification, determine old man's real-time status.
Situation C: if physiological parameter data is normal, less than the threshold value set, height of C.G. then represents that old man falls down, sensing data
Acquisition module continue detection height of C.G. less than the time setting threshold value whether exceed setting fall down the time, if being not above setting
Fall down the time, show old man from the state of falling down recover, then return step one continue monitor detection；
If exceed setting falls down the time, then explanation old man does not the most get up, and sensor data acquisition module detects always
People still has certain activity rate, then judge that decision-making module is made calling medical institutions and notifies the decision-making of household, simultaneously by old man
Positional information feed back to all-directional tripod head high definition camera device and intelligent mobile dolly；If all-directional tripod head high definition camera device energy
The face of old man enough detected, then by zoom module to photographic head zoom, amplify old man's face and carry out facial image acquisition；
If all-directional tripod head high definition camera device can not detect the face of old man, before intelligent mobile moving of car to old man's body, carry out face
Detect and gather face-image, finally the face image data collected being transferred to information storage and process decision center carries out table
Mutual affection analysis identifies.
The present embodiment uses height of C.G. change old man is easiest to the accident of falling down and carried out accurate judgement, by center of gravity
Time of changing with height of C.G. of height change combine, just can make calling when height of C.G. is less than the time setting threshold value
Medical institutions and notify the decision-making of household, and when old man acutely squat down for the moment or occur minor fall, stand again non-seriously
During situation, monitoring system can't make calling decision-making hastily, it is to avoid the generation of wrong report situation；Secondly, make when monitoring system
When going out to call decision-making, all-directional tripod head high definition camera device and intelligent mobile dolly can cooperate the real-time status dough-making powder to old man
Portion's expression is acquired, and further determines that concrete condition during old man's exception, may determine that old man particularly by Expression analysis identification
Condition, contribute to subsequent treatment arrangement.
Embodiment 3
A kind of household endowment monitoring system of the present embodiment, substantially with embodiment 2, its difference is: the one of the present embodiment
Plant the monitoring method of household endowment monitoring system, the steps include:
Step one: elders wear Wearable radio physiological sensing device, sensor data acquisition module collects the heart that old man is real-time
Hop rate rate, blood pressure height, body temperature size, activity rate, height of C.G. and positional information, 1# data processing terminal receives also
Integrate the data collected, then transfer data to information storage and process decision center, and the positional information of old man is transmitted
To all-directional tripod head high definition camera device and intelligent mobile dolly；
Step 2: information storage and process decision center the data received are processed, by obtain physiological parameter data with
Normal physiological parameter numerical range compares, and the height of C.G. threshold value of height of C.G. with setting is compared:
Situation A: if physiological parameter data and height of C.G. are all in normal numerical range, then it represents that for old man's vital sign
Abnormal conditions do not occur, the unusual condition the most do not fallen down, return step one and continue to monitor detection；
Situation B: if physiological parameter data is abnormal, it is judged that decision-making module is made calling medical institutions and notifies the decision-making of household, with
Time the positional information of old man fed back to all-directional tripod head high definition camera device and intelligent mobile dolly；All-directional tripod head high-definition camera
Head detects the face of old man and carries out facial image acquisition, the face image data collected is transferred to information storage and processes
Decision center carries out Expression analysis identification；
Situation C: if physiological parameter data is normal, less than the threshold value set, height of C.G. then represents that old man falls down, sensing data
Acquisition module continue detection height of C.G. less than the time setting threshold value whether exceed setting fall down the time, if being not above setting
Fall down the time, show old man from the state of falling down recover, then return step one continue monitor detection；
If exceed setting falls down the time, then explanation old man does not the most get up, and sensor data acquisition module detects always
People still has certain activity rate, then judge that decision-making module is made calling medical institutions and notifies the decision-making of household, simultaneously by old man
Positional information feed back to all-directional tripod head high definition camera device and intelligent mobile dolly；Intelligent mobile moving of car to before old man's body,
And regulate panoramic vision photographic head 1 and binocular high-definition camera 2 so that it is cooperate collection face facial expression, 1# therein
Face detection module is for detecting the facial zone of old man, and photographing module is for carrying out video image acquisition to old man's face, finally
The face image data collected is transferred to information storage and process decision center carries out Expression analysis identification.
The present embodiment is when unusual condition occurs in old man, it is judged that decision-making module is made calling medical institutions and notifies the decision-making of household,
The positional information of old man feeds back to all-directional tripod head high definition camera device and intelligent mobile dolly simultaneously, and all-directional tripod head high definition is taken the photograph
As device and intelligent mobile dolly all individually can carry out facial image acquisition and carry out the transmission of view data, especially old man
Intelligent mobile dolly can automatically run to old man according to old man's positional information of feedback at any time and the most closely detect, and is not subject to
Monitoring space or the restriction at visual angle, can monitor in real time without dead angle, and monitoring motility is higher, and monitoring accuracy is preferable, full
The foot demand of intelligent family endowment.
Schematically being described the present invention and embodiment thereof above, this description does not has restricted, shown in accompanying drawing yet
Simply one of embodiments of the present invention, actual structure is not limited thereto.So, if those of ordinary skill in the art
Enlightened by it, in the case of without departing from the invention objective, design the knot similar to this technical scheme without creative
Structure mode and embodiment, all should belong to protection scope of the present invention.
Claims (10)
1. household endowment monitoring intelligent moves a dolly, including dolly vehicle body, it is characterised in that: dolly vehicle body is provided above
Automatic lifting bar (3), described automatic lifting bar (3) top is provided with panoramic vision photographic head (1)；Dolly vehicle body both sides respectively set
Being equipped with a turning arm (4), every turning arm (4) top is provided with binocular high-definition camera (2)；Dolly body bottom is arranged
There is Universal wheel (5).
A kind of household endowment monitoring intelligent the most according to claim 1 moves dolly, it is characterised in that: described dolly vehicle body
Being internally provided with functional module, this functional module includes 1# orientation acquisition module, motion module, 1# face detection module, shooting
Module, described 1# orientation acquisition module is used for receiving old man's positional information；Described motion module is for the positional information according to old man
Control intelligent mobile moving of car in face of old man, and the position regulating photographic head enables photographic head to gather face facial expression；
Described 1# face detection module is for detecting the facial zone of old man；Described photographing module is for carrying out video image to old man's face
Gather.
A kind of household endowment monitoring intelligent the most according to claim 1 moves dolly, it is characterised in that: described motion module
Mould is balanced including photographic head rotary motion module, elevating lever motion module, turning arm motion module, wheel movement module and dolly
Block；
Described photographic head rotary motion module finds conjunction for controlling panoramic vision photographic head (1) rotation according to old man's positional information
The path of reason makes intelligent mobile dolly arrive and specifies position, and controls panoramic vision photographic head (1) and binocular high-definition camera (2)
Horizontally rotate in the range of 0 °～360 °, vertical rotary in the range of-90 °～90 °, thus search out old man face also
Gather the facial expression of face；
Described elevating lever motion module is used for controlling the lifting of automatic lifting bar (3) to get around barrier, makes dolly smooth and easy current；
Described turning arm motion module is used for controlling turning arm (4) and rotates, and then controls the position of binocular high-definition camera (2)；
Described wheel movement module is for controlling the operation of intelligent mobile dolly；
Described dolly balance module, for controlling the balance of intelligent mobile dolly, makes intelligent mobile dolly keep static or steady
Run.
4. a household endowment monitoring system, it is characterised in that: include the wireless life of all-directional tripod head high definition camera device, Wearable
Reason sensing device, information storage and process decision center, intelligent mobile dolly, described Wearable radio physiological sensing device is used for
Gather old man's physiologic information, and information storage will be transferred to after physiologic information integration and process decision center；Described all-directional tripod head
High definition camera device for according to old man's positional information be tracked monitoring, and gather old man's video information transmission to information storage and
Process decision center；Intelligent mobile dolly, for closely detecting and gathering old man's facial image information, then transmits information to
Information storage and process decision center；Described information storage and process the various information that receive of decision center confluence analysis and make
Judge decision-making.
A kind of household endowment monitoring system the most according to claim 4, it is characterised in that: the storage of described information and process are certainly
Plan is centrally disposed on intelligent mobile dolly.
A kind of household endowment monitoring system the most according to claim 4, it is characterised in that: described Wearable radio physiological passes
Induction device includes that sensor data acquisition module, 1# data processing terminal, described sensor data acquisition module include heart rate detection
Module, monitoring of blood pressure module, temperature check module, velocity measuring module, center of gravity detection module, locating module, described 1# number
Receive and integrate the data that sensor data acquisition module collects according to processing terminal, then transfer data to information storage and place
Reason decision center.
A kind of household endowment monitoring system the most according to claim 6, it is characterised in that: described all-directional tripod head high definition is taken the photograph
As device includes controlling and data acquisition module, 2# data processing terminal, described control and data acquisition module include:
2# orientation acquisition module, receives the old man position sent from the 1# data processing terminal of Wearable radio physiological sensing device
Information；
Target tracking module, is tracked monitoring to old man according to old man's positional information that 2# orientation acquisition module receives；
Rotary motion module, the old man's positional information collected according to 2# orientation acquisition module controls the direction of photographic head so that take the photograph
Picture head horizontally rotates in the range of 0 °～360 °, vertical rotary in the range of-90 °～90 °, reaches omnibearing monitoring
State；
2# face detection module, rotates to specific bit at photographic head and postpones, and starts to detect the face of old man, to determine the face of old man
Region, portion；
Zoom module, is amplified old man's face by the size controlling focal length, conveniently collects old man's face table clearly
Feelings image；
Video acquisition module, after photographic head rotates to the position specified, carries out real time video image collection to old man's behavior；
Described 2# data processing terminal receives the data message that also integral traffic control and data collecting module collected arrive, and then data is passed
It is defeated by information storage and processes decision center.
A kind of household endowment monitoring system the most according to claim 7, it is characterised in that: in the storage of described information and decision-making
Pericardium includes:
According to the height of C.G. of old man, Activity recognition module, judges whether old man falls down；
Expression analysis module, according to camera collection to face-image be identified old man's facial expression analyzing；
Information storage Fusion Module, by all-directional tripod head high definition camera device, Wearable radio physiological sensing device, intelligent mobile
The abnormal information that dolly is collected carries out storage process；
Judging decision-making module, the data collected according to Wearable radio physiological sensing device judge whether the health of old man occurs
Abnormal conditions, if there is abnormal conditions, then the abnormal information of old man feed back to respectively all-directional tripod head high definition camera device,
Intelligent mobile dolly, controls all-directional tripod head high definition camera device and carries out anomalous video image acquisition, and the Abnormal Map that will collect
As being stored in information storage Fusion Module, the result finally according to information processing makes a policy, and decision scheme is sent to doctor
Treat on mechanism, community service station and customer terminal equipment.
9. a monitoring method for monitoring system of supporting parents based on a kind of household described in any one of claim 4～8, the steps include:
Step one: elders wear Wearable radio physiological sensing device, sensor data acquisition module collects the heart that old man is real-time
Hop rate rate, blood pressure height, body temperature size, activity rate, height of C.G. and positional information, 1# data processing terminal receives also
Integrate the data collected, then transfer data to information storage and process decision center, and the positional information of old man is transmitted
To all-directional tripod head high definition camera device and intelligent mobile dolly；
Step 2: information storage and process decision center the data received are processed, by obtain physiological parameter data with
Normal physiological parameter numerical range compares, and the height of C.G. threshold value of height of C.G. with setting is compared:
Situation A: if physiological parameter data and height of C.G. are all in normal numerical range, returns step one and continues to monitor inspection
Survey；
Situation B: if physiological parameter data is abnormal, it is judged that decision-making module is made calling medical institutions and notifies the decision-making of household, with
Time the positional information of old man fed back to all-directional tripod head high definition camera device and intelligent mobile dolly；If all-directional tripod head high definition is taken the photograph
As device is able to detect that the face of old man, then by zoom module to photographic head zoom, amplify old man's face and carry out face
Image acquisition；
If all-directional tripod head high definition camera device can not detect the face of old man, carry out before intelligent mobile moving of car to old man's body
Face detection also gathers face-image, the face image data collected finally is transferred to information storage and process decision center is entered
Row Expression analysis identification；
Situation C: if physiological parameter data is normal, height of C.G. continues inspection less than the threshold value set, sensor data acquisition module
Survey height of C.G. less than the time setting threshold value whether exceed setting fall down the time, if be not above setting falls down the time, then
Return step one to continue to monitor detection；
If exceeding falling down the time of setting, and sensor data acquisition module detects that old man still has certain activity rate, then sentence
Disconnected decision-making module is made calling medical institutions and notifies the decision-making of household, the positional information of old man is fed back to all-directional tripod head simultaneously
High definition camera device and intelligent mobile dolly；If all-directional tripod head high definition camera device is able to detect that the face of old man, then pass through
Zoom module, to photographic head zoom, is amplified old man's face and carries out facial image acquisition；If all-directional tripod head high definition camera device
The face of old man can not be detected, carry out face detection before intelligent mobile moving of car to old man's body and gather face-image, finally
The face image data collected is transferred to information storage and process decision center carries out Expression analysis identification.
10. a monitoring method for monitoring system of supporting parents based on a kind of household described in any one of claim 4～8, the steps include:
Step one: elders wear Wearable radio physiological sensing device, sensor data acquisition module collects the heart that old man is real-time
Hop rate rate, blood pressure height, body temperature size, activity rate, height of C.G. and positional information, 1# data processing terminal receives also
Integrate the data collected, then transfer data to information storage and process decision center, and the positional information of old man is transmitted
To all-directional tripod head high definition camera device and intelligent mobile dolly；
Step 2: information storage and process decision center the data received are processed, by obtain physiological parameter data with
Normal physiological parameter numerical range compares, and the height of C.G. threshold value of height of C.G. with setting is compared:
Situation A: if physiological parameter data and height of C.G. are all in normal numerical range, returns step one and continues to monitor inspection
Survey；
Situation B: if physiological parameter data is abnormal, it is judged that decision-making module is made calling medical institutions and notifies the decision-making of household, with
Time the positional information of old man fed back to all-directional tripod head high definition camera device and intelligent mobile dolly；All-directional tripod head high-definition camera
The face of device detection old man, and by zoom module to photographic head zoom, amplify old man's face and carry out facial image acquisition；
Or intelligent mobile moving of car carries out face detection and gathers face-image before old man's body, the face-image number that finally will collect
Store and process decision center according to the information that is transferred to and carry out Expression analysis identification；
Situation C: if physiological parameter data is normal, height of C.G. continues inspection less than the threshold value set, sensor data acquisition module
Survey height of C.G. less than the time setting threshold value whether exceed setting fall down the time, if be not above setting falls down the time, then
Return step one to continue to monitor detection；
If exceeding falling down the time of setting, and sensor data acquisition module detects that old man still has certain activity rate, then sentence
Disconnected decision-making module is made calling medical institutions and notifies the decision-making of household, the positional information of old man is fed back to all-directional tripod head simultaneously
High definition camera device and intelligent mobile dolly；The face of all-directional tripod head high definition camera device detection old man, and by zoom mould
Block, to photographic head zoom, amplifies old man's face and carries out facial image acquisition；Or intelligent mobile moving of car is carried out before old man's body
Face detection also gathers face-image, the face image data collected finally is transferred to information storage and process decision center is entered
Row Expression analysis identification.
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